Imager based object positioner system and method

ABSTRACT

An apparatus and a method for guiding the placement of an object to a desired location based on an image generated by an image intensifier where the apparatus includes a first coupling mechanism that is configured to be releaseably attachable to one of the transmitter and receiver of the image intensifier and a second coupling mechanism that is coupled to the first coupling mechanism and includes an object holding mechanism, the object holding mechanism is configured to releaseably hold the object and where at least a portion of the second coupling mechanism is visible in the image generated by the image intensifier when the apparatus is attached to the image intensifier.

CROSS REFERENCE TO RELATED APPLICATIONS

This invention is related to Provisional Patent Application 60/632,574, filed Dec. 1, 2004, Attorney Docket Number TO003US, and entitled “Image Intensifier Based Percutaneous Drill Bit, Screw, and Pin Guide”, which is hereby incorporated by reference for its teachings.

BACKGROUND

1. Field of the Invention

The invention relates generally to imager related guides, and more particularly, to image intensifier related guides.

2. Description of Related Art

In many procedures including medical related procedures imagers, such as electromagnetic based image intensifiers may be employed to localize or isolate points or planes of interest. The resultant images (generated by the imager(s)) may be used to place one or more objects near or adjacent the point(s) or plane(s) of interest. It is desirable to be able to employ the imager to actively aid in the placement of the object(s). The present invention provides such a system and method.

SUMMARY OF THE INVENTION

The present invention includes an apparatus and a method for guiding the placement of an object to a desired location based on an image generated by an image intensifier. In an embodiment the apparatus includes a first coupling mechanism that is configured to be releaseably attachable to one of the transmitter and receiver of the image intensifier. The apparatus also includes a second coupling mechanism that is coupled to the first coupling mechanism and includes an object holding mechanism. In an embodiment the object holding mechanism is configured to releaseably hold the object and at least a portion of the second coupling mechanism is visible in the image generated by the image intensifier when the apparatus is attached to the image intensifier.

In an embodiment the first coupling mechanism may be substantially not visible in the image generated by the image intensifier when the apparatus is attached to the image intensifier. In addition, the second coupling mechanism may be substantially not visible in the image generated by the image intensifier when the apparatus is attached to the image intensifier except for at least one orientation indication. Further, at least a segment of the object holding mechanism may be visible in the image generated by the image intensifier when the apparatus is attached to the image intensifier.

In an embodiment, image intensifier may have a central axis between the transmitter and receiver and the object holding mechanism may be substantially coaxial with the image intensifier central axis. In addition, the second coupling mechanism may enable the object holding mechanism to moved along the image intensifier central axis. In addition, the second coupling mechanism may enable the object holding mechanism to be moved around the image intensifier central axis. In an embodiment the image intensifier may be a mobile digital fluoroscopy device. Further, the object may be a medical device.

BRIEF DESCRIPTION OF THE DRAWINGS

The features, objects, and advantages of the present invention will become more apparent from the detailed description set forth below when taken in conjunction with the drawings in which like reference characters identify correspondingly throughout and wherein:

FIG. 1A is an isometric view of an imager based object positioner system in accordance with an embodiment of the present invention.

FIG. 1B is a top view of the imager based object positioner system shown in FIG. 1A.

FIG. 1C is a side view of the imager based object positioner system shown in FIG. 1A.

FIG. 2A is a side view of a portion of the imager based object positioner system shown in FIG. 1A in a folded configuration in accordance with another embodiment of the present invention.

FIG. 2B is an enlarged isometric view of a hinge of the foldable portion of the imager based object positioner system shown in FIG. 2A.

FIG. 3A is a bottom view of the foldable portion of the imager based object positioner system shown in FIG. 2A.

FIG. 3B is a top, partial view of the foldable portion of the imager based object positioner system shown in FIG. 3A.

FIG. 3C is a top, partial view of a moveable clamp apparatus of the imager based object positioner system shown in FIG. 3A.

FIG. 4A is a side, partial view of a of the imager based object positioner system shown in FIG. 1A showing an vertical offset system configuration in accordance with another embodiment of the present invention.

FIG. 4B is a side view of a releasable car system of the vertical offset system shown in FIG. 4A in accordance with another embodiment of the present invention.

FIG. 4C is an isometric view of the releasable car system of the vertical offset system shown attached to a rail of the foldable section of the imager based object positioner system in accordance with an embodiment of the present invention.

FIG. 4D is an isometric, top view of an vertical level adjustment mechanism of the vertical offset system shown attached to a rail of the foldable section of the imager based object positioner system in accordance with an embodiment of the present invention.

FIG. 5A is a top view of a guide boom of the vertical offset system of the imager based object positioner system shown in FIG. 1A in accordance with an embodiment of the present invention.

FIG. 5B is a picture of an image generated by an imager of the boom shown in FIG. 5A adjacent to bony anatomy in accordance with an embodiment of the present invention.

FIG. 5C is a picture of another image generated by an imager of the boom shown in FIG. 5A adjacent to bony anatomy in accordance with an embodiment of the present invention.

FIG. 6 is a picture of an imager based object positioner system shown in FIG. 1A in accordance with an embodiment of the present invention mounted on an image intensifier.

FIG. 7A is a picture of a spatial positioner that may be used in conjunction with the imager based object positioner system shown in FIG. 1A in accordance with an embodiment of the present invention.

FIG. 7B is a diagram of an imager based object positioner system mounted on an image intensifier and coupled to the spatial positioner shown in FIG. 7A in accordance with an embodiment of the present invention adjacent to exemplary anatomy.

FIG. 7C is another diagram of an imager based object positioner system mounted on an image intensifier and coupled to the spatial positioner shown in accordance with an embodiment of the present invention adjacent to exemplary anatomy.

DETAILED DESCRIPTION

Throughout this description, embodiments and variations are described for the purpose of illustrating uses and implementations of the invention. The illustrative description should be understood as presenting examples of the invention, rather than as limiting the scope of the invention.

FIG. 1A is an isometric view, FIG. 1B is a top view, and FIG. 1C is a side view of an imager based object positioner system 10 in accordance with an embodiment of the present invention. The imager based object positioner system 10 includes a first rail section 14, a second rail section 16, a moveable clamp 32, immoveable camps 34, 36, a vertical offset mechanism 40, and placement/stabilizer bars 72, 74. In an embodiment the first rail section 14 is coupled to the second rail section 16 via two releasable hinges 22, 26. In an embodiment a handle 30 is coupled to the moveable clamp 32 and screw 31. In an embodiment three clamps 32, 34, 36 may be used to engage a transmitter of an imager. In an embodiment the imager is an imager intensifier such as a mobile digital fluoroscopy (“C-arm”).

In an embodiment the releasable hinge 22 includes a release mechanism 20 and limiter 24 and the releasable hinge 26 includes a release mechanism 21 and limiter 28. The vertical offset mechanism or apparatus 40 includes a releasable car 44, vertically translatable arm 42, car release assembly 50, and guide boom 60. In an embodiment, the car 44 release-ably engages the circular rail 12 formed by the two rail sections 14, 16. The car 44 may be move along the rail 12 when the car release assembly 50 is disengaged in an embodiment. In an embodiment the boom 60 is coupled to a distal end of the arm 42 and includes an object mounting bushing 62.

FIG. 2A is a side view of the imager based object positioner system 10 shown in FIG. 1A in a folded configuration without the vertical offset 40 attached in accordance with another embodiment of the present invention. FIG. 2B is an enlarged isometric view of a hinge 22 of the foldable portion of the imager based object positioner system 10 shown in FIG. 2A. In this configuration, the release mechanisms 20, 21 had been deployed to release hinges 22, 26 so the second rail section 16 may be folded over the first rail section 14. The system 10 may be folded to permit placement in a autoclave for sterilization between use in medical applications. In other embodiment the system 10 may not include hinges 22, 26, and thus be foldable.

FIG. 3A is a bottom view of the the imager based object positioner system 10 shown in FIG. 1A with the vertical offset mechanism 40 removed. FIG. 3B is a top, partial view of the imager based object positioner system 10 shown in FIG. 3A. FIG. 3C is a top, partial view of a moveable clamp mechanism 32 of the imager based object positioner system shown in FIG. 3A. In an embodiment the system 10 may be placed over an imager transmitter and the handle 30 engaged to cause the clamp 32 to apply force in conjunction with clamps 34, 36 against the imager transmitter to release-ably hold the positioner system 10 to the imager transmitter or receiver. In an embodiment the clamps are about 120 degrees apart from adjacent clamps. In an embodiment the handle 30 includes a torque limited to prevent possible damage to the imager. In another embodiment the position system 10 may include two or more clamps 32, 34, 36 to engage an image intensifier.

FIG. 4A is a side, partial view of a of the imager based object positioner system 10 shown in FIG. 1A showing an vertical offset system 40 configuration in accordance with another embodiment of the present invention. FIG. 4B is a side view of a releasable car system 44 of the vertical offset system 40 shown in FIG. 4A in accordance with another embodiment of the present invention. FIG. 4C is an isometric view of the releasable car system 44 of the vertical offset system 40 shown attached to a rail 12 of a foldable section 14 of the imager based object positioner system 10 in accordance with an embodiment of the present invention. In an embodiment the car system 44 includes a top rail engagement lip 45, lower track engagement lip 54, car release assembly 50, and release assembly level 52. In this embodiment the level 52 may be used to release-ably engage the lower rail 13 via the lower track engagement lip 54 and the upper rail 12 via the upper track engagement lip 45.

FIG. 4D is an isometric, top view of an vertical level adjustment mechanism 48 of the vertical offset system shown attached to a rail 12 of the foldable section 14 of the imager based object positioner system 10 in accordance with an embodiment of the present invention. The adjustment mechanism 48 is coupled to a gear 49. The gear 49 is engaged to the vertical arm 42 via the track 41. FIG. 5A is a top view of a guide boom 60 of the vertical offset system 40 of the imager based object positioner system 10 shown in FIG. 1A in accordance with an embodiment of the present invention. In an embodiment the boom is translucent to the energy generated by the imager to which the system 10 may be attached. In an embodiment the boom may include one or more markers 66, 64 that are opaque to the energy generated by the imager to which the system 10 may be attached. The boom 60 also includes an object coupling bushing 62. In an embodiment bushing 62 may also be opaque to the energy generated by the imager to which the system 10 may be attached.

FIGS. 5B and 5C are pictures of images generated by an imager including the boom shown in FIG. 5A adjacent to bony anatomy in accordance with an embodiment of the present invention. As shown in these FIGURES the marks 64, 66 and bushing 62 absorb energy generated by an imager enabling their identification in images generated by the imager. The markers 62, 64, 66 may be used to align the bushing with a desired line or plane of approach to desired target. An object may be coupled to the bushing 62 to enable precise placement of the object along the desired line or plane established by the imager while the system 10 remains coupled to the imager.

FIG. 6 is a picture of an imager based object positioner system 10 shown in FIG. 1A in accordance with an embodiment of the present invention mounted on an image intensifier 80. The image intensifier 80 includes a transmitter 82 with distal end 84. In this example the intensifier 80 is mobile digital fluoroscopy commonly called a “C-ARM”. In this embodiment the positioner system 10 is coupled to the C-ARM's 80 transmitter's 82 distal end 84. As also shown in FIG. 6 the placement bar/stabilizer bars 72, 74 engage the C-ARM's 80 distal end while not blocking energy transmission. In this embodiment the system 10 includes three clamps 32, 34, 36 that, in combination with the stabilization bars 72, 74 securely holds the positioner system 10 to the C-ARM's 80 transmitter 82. As shown in FIGS. 5B and 5C and may be seen in FIG. 6, in an embodiment only the boom 60 is positioned in imager's energy field preventing distortion or artifacts in the image generated by an imager coupled to the system 10.

FIG. 7A is a picture of a spatial positioner 90 that may be used in conjunction with the imager based object positioner system shown 10 in FIG. 1A in accordance with an embodiment of the present invention. The spatial positioner 90 includes a table clamp 92, lockable snake 94, extension arm 96, lockable pivotable tip 98, and bushing engaging member 99. FIG. 7B is a diagram of an embodiment of the imager based object positioner system 10 mounted on an image intensifier and coupled to the spatial positioner shown in FIG. 7A in accordance with an embodiment of the present invention adjacent to exemplary anatomy. In this embodiment, the boom's 60 bushing 62 may be aligned to an anatomical plane or point of anatomy 100 via the C-ARM 80. The spatial positioner's 90 bushing engager 99 is then coupled to the boom's 60 bushing 62. In this embodiment the spatial positioner 90 is coupled to the table 102 via the table clamp 92. In addition, a guide wire 68 is inserted into the anatomy 100 via the boom's 60 bushing 62. The C-ARM 80 may be employed to generate an image to verify proper placement of the guide wire 68 in an embodiment. FIG. 7C is another diagram of an imager based object positioner system mounted on an image intensifier and coupled to the spatial positioner shown in accordance with an embodiment of the present invention adjacent to exemplary anatomy.

In an embodiment the C-ARM 80 and positioner system 10 attached thereto may be removed from the operative field of view leaving the spatial positioner 90. The spatial positioner bushing 99 may have been aligned with a desired target plane or line enabling a user to employ a tool such as the guide wire 68 along the target plane or line. In another embodiment the position system's 10 arm 42 may be extended via the extension mechanism 48. In this embodiment the boom's 60 bushing may be used to employ an object or tool along a desired target plane or line where the tool or object may be a medical tool or other tool in non-medical applications. The tools may include a guide wire 68, cannula, obturator, drill, reamer, or endoscope. It is also noted that lever 52 may be released partially so the car 44 may be rotated along the track 12 to move the vertical offset mechanism 40 out of the field of view. In an embodiment the boom 60 bushing 62 remains co-axial with the central axis of the imager 80 as the car 44 is rotated around the track due to the geometry of the rail 12 and bushing 62 distance from the arm 42.

While this invention has been described in terms of a best mode for achieving the objectives of the invention, it will be appreciated by those skilled in the art that variations may be accomplished in view of these teachings without deviating from the spirit or scope of the present invention. For example the positioner system 10 may be used in conjunction with an imager to access an archeological artifact or access a complex mechanical or electrical device. 

1. An apparatus for guiding the placement of an object to a desired location based on an image generated by an image intensifier, the apparatus including: a first coupling mechanism that is configured to be releaseably attachable to one of the transmitter and receiver of the image intensifier; and a second coupling mechanism that is coupled to the first coupling mechanism and includes an object holding mechanism, where the object holding mechanism is configured to releaseably hold the object and at least a portion of the second coupling mechanism is visible in the image generated by the image intensifier when the apparatus is attached to the image intensifier.
 2. The apparatus for guiding the placement of an object to a desired location based on an image generated by an image intensifier of claim 1, wherein the first coupling mechanism is substantially not visible in the image generated by the image intensifier when the apparatus is attached to the image intensifier.
 3. The apparatus for guiding the placement of an object to a desired location based on an image generated by an image intensifier of claim 2, wherein the second coupling mechanism is substantially not visible in the image generated by the image intensifier when the apparatus is attached to the image intensifier except for at least one orientation indication.
 4. The apparatus for guiding the placement of an object to a desired location based on an image generated by an image intensifier of claim 3, wherein at least a segment of the object holding mechanism is visible in the image generated by the image intensifier when the apparatus is attached to the image intensifier.
 5. The apparatus for guiding the placement of an object to a desired location based on an image generated by an image intensifier of claim 2, wherein image intensifier has a central axis between the transmitter and receiver and the object holding mechanism is substantially coaxial with the image intensifier central axis.
 6. The apparatus for guiding the placement of an object to a desired location based on an image generated by an image intensifier of claim 5, wherein the second coupling mechanism enables the object holding mechanism to moved along the image intensifier central axis.
 7. The apparatus for guiding the placement of an object to a desired location based on an image generated by an image intensifier of claim 6, wherein the second coupling mechanism enables the object holding mechanism to moved around the image intensifier central axis.
 8. The apparatus for guiding the placement of an object to a desired location based on an image generated by an image intensifier of claim 3, wherein the image intensifier is a mobile digital fluoroscopy device.
 9. The apparatus for guiding the placement of an object to a desired location based on an image generated by an image intensifier of claim 8, wherein the object is a medical device.
 10. The apparatus for guiding the placement of an object to a desired location based on an image generated by an image intensifier of claim 8, wherein the object is another object holding device that including an additional object holding mechanism.
 11. A method for guiding the placement of an object to a desired location based on an image generated by an image intensifier, the method including: releaseably attachable a coupling mechanism to one of the transmitter and receiver of the image intensifier, the coupling mechanism including an object holding mechanism, where the object holding mechanism is configured to releaseably hold the object and at least a portion of the second coupling mechanism is visible in the image generated by the image intensifier when the apparatus is attached to the image intensifier; generating an image using the image intensifier; and changing the position of object holding mechanism based on the image generated by the image intensifier.
 12. The method for guiding the placement of an object to a desired location based on an image generated by an image intensifier of claim 11, further including attaching the object to the object to the image intensifier.
 13. The method for guiding the placement of an object to a desired location based on an image generated by an image intensifier of claim 11, wherein the coupling mechanism is substantially not visible in the image generated by the image intensifier when the coupling mechanism is attached to the image intensifier.
 14. The method for guiding the placement of an object to a desired location based on an image generated by an image intensifier of claim 13, wherein the object holding mechanism is substantially not visible in the image generated by the image intensifier when the apparatus is attached to the image intensifier except for at least one orientation indication.
 15. The method for guiding the placement of an object to a desired location based on an image generated by an image intensifier of claim 14, wherein at least a segment of the object holding mechanism is visible in the image generated by the image intensifier when the apparatus is attached to the image intensifier.
 16. The method for guiding the placement of an object to a desired location based on an image generated by an image intensifier of claim 13, wherein image intensifier has a central axis between the transmitter and receiver and the object holding mechanism is substantially coaxial with the image intensifier central axis.
 17. The method for guiding the placement of an object to a desired location based on an image generated by an image intensifier of claim 16, wherein coupling mechanism enables the object holding mechanism to moved along the image intensifier central axis.
 18. The method for guiding the placement of an object to a desired location based on an image generated by an image intensifier of claim 16, wherein coupling mechanism enables the object holding mechanism to moved along and around the image intensifier central axis.
 19. The method for guiding the placement of an object to a desired location based on an image generated by an image intensifier of claim 14, wherein the image intensifier is a mobile digital fluoroscopy device.
 20. The method for guiding the placement of an object to a desired location based on an image generated by an image intensifier of claim 19, wherein the object is a medical device. 